For both the guys who posted, it's totally okay. If you go on business as usual, then it'll be no big deal. Worse case scenario, they tell someone you are freeballing? Well, you didn't break the law, you aren't doing anything immoral, and you are just being guys who don't wear undergarments. So, just be yourselves. Remember, it is a matter of choice that you prefer not to have underwear.
If they get their eyes full, they shouldn't be staring anyway. It's perfectly cool. It is your choice about your attire. If you were holding up banks and pushing drugs, then that is a totally different matter.
Bottom line is that you choose not to wear undies. Be free, enjoy, and keep us posted on how we can help.